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<div class="title">meta_registration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2015, Michael &#39;v4hn&#39; Goerner</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_META_REGISTRATION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_META_REGISTRATION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl {</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">namespace </span>registration {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_meta_registration.html">   77</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_meta_registration.html">MetaRegistration</a> {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::Registration&lt;PointT,PointT,Scalar&gt;::Ptr RegistrationPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::Registration&lt;PointT,PointT,Scalar&gt;::Matrix4 Matrix4;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html">MetaRegistration</a> ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_meta_registration.html#a470090182ad7dd7a8abc2f2db0f3b614">   88</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a470090182ad7dd7a8abc2f2db0f3b614">~MetaRegistration</a> () {};</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a867f0e8d0d32aa7887b0dc54270f7f21">registerCloud</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud, <span class="keyword">const</span> Matrix4&amp; delta_estimate = Matrix4::Identity ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keyword">inline</span> Matrix4</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#ae3740341d18596744fb02a95ae357f9a">getAbsoluteTransform</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a4ade3a8475c9f3bdd1ca9ec6b10d7c0f">reset</a> ();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#ad8d6d95c66a8f951037c9f2281a87d18">setRegistration</a> (RegistrationPtr);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a3234d43ef4450d8f77cae01504cc60a5">getMetaCloud</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">  117</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">full_cloud_</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">  120</a></span>&#160;        RegistrationPtr <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">  123</a></span>&#160;        Matrix4 <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">abs_transform_</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    };</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/meta_registration.hpp&gt;</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/*PCL_REGISTRATION_META_REGISTRATION_H_*/</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html">pcl::registration::MetaRegistration</a></div><div class="ttdoc">Meta Registration class</div><div class="ttdef"><b>Definition:</b> meta_registration.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a297456962cbf69a71ef853b4072a85ef"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">pcl::registration::MetaRegistration::full_cloud_</a></div><div class="ttdeci">PointCloudPtr full_cloud_</div><div class="ttdoc">registered accumulated point cloud</div><div class="ttdef"><b>Definition:</b> meta_registration.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a3234d43ef4450d8f77cae01504cc60a5"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a3234d43ef4450d8f77cae01504cc60a5">pcl::registration::MetaRegistration::getMetaCloud</a></div><div class="ttdeci">PointCloudConstPtr getMetaCloud() const</div><div class="ttdoc">get accumulated meta point cloud</div><div class="ttdef"><b>Definition:</b> meta_registration.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a439ed0f07ba2ebf450e19e047c5fe162"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">pcl::registration::MetaRegistration::abs_transform_</a></div><div class="ttdeci">Matrix4 abs_transform_</div><div class="ttdoc">estimated transform</div><div class="ttdef"><b>Definition:</b> meta_registration.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a470090182ad7dd7a8abc2f2db0f3b614"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a470090182ad7dd7a8abc2f2db0f3b614">pcl::registration::MetaRegistration::~MetaRegistration</a></div><div class="ttdeci">virtual ~MetaRegistration()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> meta_registration.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a4ade3a8475c9f3bdd1ca9ec6b10d7c0f"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a4ade3a8475c9f3bdd1ca9ec6b10d7c0f">pcl::registration::MetaRegistration::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset MetaICP without resetting registration_</div><div class="ttdef"><b>Definition:</b> meta_registration.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a867f0e8d0d32aa7887b0dc54270f7f21"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a867f0e8d0d32aa7887b0dc54270f7f21">pcl::registration::MetaRegistration::registerCloud</a></div><div class="ttdeci">bool registerCloud(const PointCloudConstPtr &amp;cloud, const Matrix4 &amp;delta_estimate=Matrix4::Identity())</div><div class="ttdoc">Register new point cloud</div><div class="ttdef"><b>Definition:</b> meta_registration.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_aa08e58b1f4e11268868628f712b6e89c"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">pcl::registration::MetaRegistration::registration_</a></div><div class="ttdeci">RegistrationPtr registration_</div><div class="ttdoc">registration instance to align clouds</div><div class="ttdef"><b>Definition:</b> meta_registration.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_ad8d6d95c66a8f951037c9f2281a87d18"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#ad8d6d95c66a8f951037c9f2281a87d18">pcl::registration::MetaRegistration::setRegistration</a></div><div class="ttdeci">void setRegistration(RegistrationPtr)</div><div class="ttdoc">Set registration instance used to align clouds</div><div class="ttdef"><b>Definition:</b> meta_registration.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_ae3740341d18596744fb02a95ae357f9a"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#ae3740341d18596744fb02a95ae357f9a">pcl::registration::MetaRegistration::getAbsoluteTransform</a></div><div class="ttdeci">Matrix4 getAbsoluteTransform() const</div><div class="ttdoc">Get estimated transform of the last registered cloud</div><div class="ttdef"><b>Definition:</b> meta_registration.hpp:78</div></div>
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